/*
 *  Simbad - Robot Simulator
 *  Copyright (C) 2004 Louis Hugues
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful, 
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:49:37 $
 * $Revision: 1.3 $
 * $Source: /cvsroot/simbad/src/simbad/sim/KinematicModel.java,v $
 */

package simbad.sim;

import java.text.DecimalFormat;

import javax.media.j3d.Transform3D;
import javax.vecmath.Vector3d;

/**
 * This is the base class for all agent's kinematic. A Kinematic performs the
 * translation and rotation of the agent under the control of specific
 * parameter.
 * 
 */
public abstract class KinematicModel {

	/**
	 * Compute instant translation and rotation vectors .
	 * 
	 * @param elapsedSecond
	 *            time elapsed
	 * @param rotation
	 *            current rotation
	 * @param instantTranslation
	 *            to store translation
	 * @param instantRotation
	 *            to store rotation
	 */
	protected abstract void update(double elapsedSecond, Transform3D rotation, Vector3d instantTranslation, Vector3d instantRotation);

	/** Resets all control parameters to their initial values. */
	protected abstract void reset();

	/** Returns string representation of the kinematicModel */
	protected abstract String toString(DecimalFormat format);
}
